TWI599769B - Apparatus and method for appearance inspection - Google Patents

Description

Visual inspection device and visual inspection method

The present invention relates to an appearance inspection device and an appearance inspection method for inspecting an appearance of an object.

Previously, metal members such as connecting rods and hubs used in the driving portion of automobiles have been manufactured by forging or casting. After the manufacture of the metal member, it is investigated whether or not there is a defect such as damage on the obtained metal member, that is, a so-called visual inspection is performed. The visual inspection of the metal parts as described above was previously performed visually by the operator. However, depending on the operator's visual observation, the time spent checking the check results will be uneven between the plural operators. Moreover, even if it is the same operator, it may take time to check or neglect defects due to poor body or decreased concentration. Therefore, development of an apparatus capable of automatically and quickly performing visual inspection of a metal member has been pursued.

An apparatus for performing visual inspection of a metal member is proposed, for example, in Patent Document 1. The visual inspection device of Patent Document 1 includes an illumination unit having a plurality of light irradiation units, and a camera that captures metal parts (see paragraphs [0016] to [0017], FIG. 1, FIG. 2, etc.). The device controls the illumination unit and the camera to acquire a plurality of inspection images having different illumination directions from the illumination unit. In addition, the appearance of the metal member is checked based on the acquired inspection image.

[Previous Technical Literature] [Patent Literature]

[Patent Document 1] Japanese Patent Laid-Open Publication No. 2015-68668

In the visual inspection device of Patent Document 1, in order to inspect the wider surface of the metal member, it is considered to increase the number of cameras that photograph the metal member. For example, it is considered that a plurality of cameras are arranged in a hemispherical shape so as to surround the metal member. Further, in order to improve the accuracy of the visual inspection, it is considered to increase the number of light-irradiating portions and increase the number of illumination patterns that can be illuminated.

However, when a plurality of cameras and a plurality of light-irradiating portions are arranged to surround the metal member, it is difficult to carry in and carry out the metal members. When a part of the camera or the light-irradiating portion is moved during loading and unloading, the path for carrying in and out of the metal member can be ensured. However, in this case, it is easy to cause a positional deviation at the moving camera or the light-irradiating portion. . If a positional deviation occurs at the camera or the light-irradiating portion, the accuracy of the inspection is lowered.

Moreover, in order to improve the processing efficiency of the visual inspection device, it is necessary to shorten the transport interval of a plurality of metal members. The method of moving the camera or the light-irradiating portion for each loading and unloading takes time in the movement of the camera or the light-irradiating portion. Moreover, when the metal member is carried out at the same path as when the metal member is carried in, the metal member after the inspection and the subsequent metal member cannot be carried in at the same time. Therefore, it is difficult to shorten the conveyance interval of the metal member.

The present invention has been made in view of the above, and an object of the present invention is to provide an appearance inspection device capable of transporting objects in and out without changing the position of the light irradiation unit and the camera, and capable of being transported at short intervals. The technique of a plurality of objects.

In order to solve the above problem, the first invention of the present application is outside the inspection object. The visual inspection device includes: a plurality of light irradiation units and a plurality of cameras that surround the object in a space above the horizontal plane including the inspection position; and the loading mechanism that carries the object toward the inspection position And a carrying-out mechanism that carries the object from the inspection position on a different route from the loading mechanism; and the loading mechanism and the unloading mechanism are both lower than the inspection position and the inspection position At least one of the carry-in mechanism and the carry-out mechanism conveys the object obliquely with respect to the vertical direction.

According to a second aspect of the invention, in the visual inspection device according to the first aspect of the invention, the loading mechanism conveys an object obliquely upward from a position lower than the inspection position toward the inspection position.

According to a third aspect of the invention, in the visual inspection device according to the second aspect of the invention, the carry-out mechanism transports an object vertically downward from a position at which the inspection position is lower than the inspection position.

According to a fourth aspect of the invention, in the visual inspection device according to any one of the first to third aspects of the invention, the loading mechanism and the unloading mechanism are differently controllable.

The visual inspection device according to any one of the first to fourth aspects of the present invention, further comprising a control unit that controls an operation of the loading mechanism and the unloading mechanism, and the control unit is at least partially The loading mechanism and the unloading mechanism are simultaneously operated during the time.

The visual inspection device according to any one of the first to fifth aspects of the present invention, wherein the loading mechanism includes: a loading station that mounts an object; and a loading table moving mechanism that moves the loading table Moving along the carry-in path; and the carry-out mechanism includes: a carry-out station on which the object is placed; and a carry-out moving mechanism that moves the carry-out table along the carry-out path.

According to a seventh aspect of the present invention, in the visual inspection device according to the sixth aspect of the present invention, The loading mechanism moves the transfer table linearly, and the carry-out moving mechanism moves the transfer table linearly.

According to a sixth aspect of the present invention, in the visual inspection device according to the sixth aspect of the present invention, the loading table moving mechanism reciprocates the loading table along the loading path, and the carrying-in moving mechanism moves the loading table along the carrying-out path Reciprocating.

According to a ninth aspect of the present invention, in the aspect of the invention, the loading mechanism further includes an elevating mechanism that changes a height of the loading table, and the loading table moving mechanism moves the loading The table and the lifting mechanism are integrally moved.

The visual inspection device according to any one of the sixth to ninth inventions of the present invention, further comprising a holding mechanism in addition to the loading table and the loading and unloading station, wherein the inspection position is in the inspection position The object is kept.

The visual inspection device according to any one of the first to tenth aspects of the present invention, wherein the one of the loading mechanism and the unloading mechanism is at an angle of 15° or more and 45° or less with respect to a horizontal plane. Transfer object.

According to a twelfth aspect of the invention, the visual inspection device according to any one of the first to eleventh invention includes: a first inspection unit, a first surface of the inspection object; and a second inspection unit; a second surface; and a posture changing mechanism that changes a posture of the object between the first inspection unit and the second inspection unit; and the first inspection unit and the second inspection unit each have the plurality of lights An illuminating unit, the plurality of cameras, the loading mechanism, and the unloading mechanism.

According to a thirteenth aspect of the invention, in the visual inspection device of the tenth aspect, the holding mechanism includes: a support portion that supports the object from the lower side; and a pair of holding portions that are in contact with the side surface of the object and sandwich the object And a moving mechanism that changes a distance between the pair of holding portions; and at least one of the holding portions has a pair of holding surfaces that open toward the other holding portion side.

According to a fourteenth aspect of the present invention, in the aspect of the aspect of the present invention, the aspect of the present invention, wherein the one of the pair of holding portions has the pair of holding surfaces.

According to a fifteenth aspect of the present invention, in the aspect of the invention, the holding device includes a pair of holding members, each of the pair of holding members including the support portion and the holding portion, wherein the moving mechanism causes the aforementioned One or both of the pair of retaining members are moved.

According to a sixteenth aspect of the present invention, in the aspect of the aspect of the present invention, the support portion includes: a horizontal support surface that contacts a lower surface of the object; and a tapered surface from an inner side of the support surface The department expands obliquely downwards.

The appearance inspection device according to any one of the thirteenth invention of the present invention, wherein the holding portion is located above the support portion, and from the upper surface of the support portion to the foregoing The height of the upper end of the holding portion is smaller than 1/2 times the height of the side surface, wherein the side surface is located above the aforementioned support portion of the object.

The visual inspection device according to any one of the thirteenth invention, wherein the holding portion is located lower than a surface of the upper surface of the support portion.

According to a nineteenth aspect of the present invention, in the aspect of the invention of the aspect of the present invention, the holding device further includes a rotation preventing member that prevents rotation of the object about the vertical axis.

According to a ninth aspect of the invention, in the visual inspection device of the nineteenth aspect, the rotation preventing member is inserted into a concave portion of the object.

According to a twenty-first aspect of the invention, the visual inspection device according to any one of the first to the twenty-first aspects of the present invention, wherein the image of the plurality of objects is compared, the presence or absence of the defect of the object is determined.

According to a twenty-second aspect of the invention, there is provided a method for inspecting an appearance of an object to be inspected, The method includes: a) a step of moving the object toward the inspection position; and b) using a plurality of light irradiation portions and a plurality of the plurality of light-emitting portions arranged to surround the object in a space above the horizontal surface including the inspection position a step of inspecting an object placed at the inspection position by the camera; and c) a step of carrying out the object from the inspection position in a path different from the step a); and in the aforementioned step a) and the aforementioned step c) In any one of the steps a) and c), the object is conveyed obliquely with respect to the vertical direction in at least one of the step A) and the step c).

According to a twenty-third aspect of the present invention, in the aspect of the aspect of the present invention, in the aspect of the aspect, the step a) includes: a-1) a step of supporting the object from the lower side; and a-2) continuing from the lower side Supporting the object, and stepping the pair of holding portions on the side surface of the object to sandwich the object; and at least one of the holding portions has a pair of holding faces that are opened toward the other holding portion side In the aforementioned step a-2), the pair of holding surfaces are brought into contact with the side surface of the object.

According to the first to the twenty-third inventions of the present invention, the object can be carried in and out without changing the position of the light-irradiating portion and the camera. Further, since the object is carried in and out by a different route, a plurality of objects can be transported at short intervals.

In particular, according to the second invention of the present invention, since the loading start position is not directly below the inspection position, it is easy to install the object in the apparatus.

In particular, according to the third invention of the present invention, it is possible to reduce the coverage area (footprint) of the device when the device is carried out obliquely.

In particular, according to the fourth invention of the present invention, the operation of each of the loading mechanism and the unloading mechanism is optimized, and the transport interval of the object can be further shortened.

In particular, according to the fifth invention of the present invention, by moving the loading mechanism and the unloading mechanism simultaneously, it is possible to transport a plurality of objects at shorter time intervals.

In particular, according to the seventh invention of the present invention, the object can be transported at the shortest distance. Thereby, the object can be transported more quickly.

In particular, according to the eighth aspect of the invention, it is possible to reduce the footprint of the loading mechanism and the unloading mechanism.

In particular, according to the ninth invention of the present invention, it is not necessary to arrange the elevating mechanism at both the position before the conveyance and the position after the conveyance.

In particular, according to the tenth invention of the present invention, in the inspection of the object, the carry-in station and the carry-out table can be moved. Thereby, a plurality of objects can be transported at shorter time intervals.

In particular, according to the twelfth aspect of the present invention, after the first inspection unit inspects the first surface of the object, the posture of the object carried out from the first inspection unit is changed, and then the object is carried into the second object. Check the unit and check the second side of the object. Thereby, it is possible to inspect the wider surface of the object. Further, the inspection of the first surface, the inspection of the second surface, and the change of the posture can be simultaneously performed at different positions. Thereby, the transport interval of a plurality of objects can be further shortened.

In particular, according to the thirteenth to twenty-firstth inventions of the present invention, since the lower surface of the object contacts the support portion, the height position of the object is determined. Further, since the side surface of the object comes into contact with one of the holding portions and the holding surface, the position in the horizontal plane of the object is determined. Thereby, the object can be held at a certain position.

In particular, according to the fourteenth aspect of the invention, the position in the horizontal plane of the object can be determined with higher precision.

In particular, according to the fifteenth aspect of the invention, the support portion and the holding portion are realized by the integral holding member. In this way, there is no possibility that the positional relationship between the support portion and the holding portion is deviated. Moreover, the transfer of the object can be easily performed between the transport mechanisms.

In particular, according to the sixteenth aspect of the invention, the pair of holding members are brought close to each other, and the object is received from the other conveying mechanism. At this time, the object is guided by the tapered surface It is placed smoothly on the support surface.

In particular, according to the seventeenth aspect of the invention, the object is inspected by inverting the object, and the entire side surface of the object can be inspected.

In particular, according to the eighteenth aspect of the invention, it is possible to obtain an inspection in which the portion of the object which is located above the upper surface of the support portion is not blocked by the holding portion.

In particular, according to the nineteenth aspect of the invention, it is possible to prevent the positional deviation of the object in the rotational direction.

In particular, according to the twentieth aspect of the invention, it is possible to prevent the positional deviation of the object in the rotational direction by the concave portion of the object.

In particular, according to the twenty-first aspect of the present invention, the presence or absence of a defect of the object is determined by comparing the photographic images of the plurality of objects. In the comparative inspection method as described above, it is important to hold a plurality of objects at a certain position with high precision. Thus, the retention mechanism of the present invention is particularly useful.

In particular, according to the twenty-third aspect of the invention of the present invention, since the object is supported from the lower side, the height position of the object is determined. Further, since the side surface of the object comes into contact with one of the holding portions and the holding surface, the position in the horizontal plane of the object is determined. Thereby, the object can be held at a certain position.

1‧‧‧ appearance inspection device

9‧‧‧Check objects

10‧‧‧1st inspection unit

11‧‧‧1st moving institution

12‧‧‧1st holding institution

13‧‧‧1st Inspection Department

14‧‧‧1st moving out agency

20‧‧‧ posture change institution

21‧‧‧Reverse arm

22‧‧‧ Arm drive mechanism

30‧‧‧2nd inspection unit

31‧‧‧2nd moving institution

32‧‧‧2nd retention agency

33‧‧‧2nd Inspection Department

34‧‧‧2nd moving out agency

40‧‧‧Classification and discharge mechanism

41‧‧‧Drain arm

42‧‧‧ Arm drive mechanism

43‧‧‧Draining conveyor

50‧‧‧Control Department

51‧‧‧ Calculation and Processing Department

52‧‧‧ memory

53‧‧‧Memory Department

60‧‧‧ input

61‧‧‧ moving into the station

62‧‧‧ Moving into the platform

63‧‧‧ Moving into Taiwan Mobile Agency

71‧‧‧Support Department

72‧‧‧ Holding Department

81‧‧‧ moved out

82‧‧‧ Moving out of the mobile agency

91‧‧‧round board

92‧‧‧Side side cylindrical

93‧‧‧Back side cylindrical part

94‧‧‧ recess

95‧‧‧1st ring

96‧‧‧2nd ring

97‧‧‧ pole

121‧‧‧Retaining components

122‧‧‧Retaining member moving mechanism

123‧‧‧Rotation prevention component

131‧‧‧Lighting Department

131a‧‧‧Upper light irradiation department

131b‧‧‧ oblique light irradiation

131c‧‧‧Side side light irradiation department

132‧‧‧ camera

132a‧‧‧Upper camera

132b‧‧‧ oblique camera

132c‧‧‧ side camera

321‧‧‧ Keeping components

322‧‧‧Retaining member moving mechanism

331‧‧‧Lighting Department

331a‧‧‧Top Light Irradiation Department

331b‧‧‧ oblique light irradiation

331c‧‧‧ Side Light Irradiation Department

332‧‧‧ camera

332a‧‧‧Upper camera

332b‧‧‧ oblique camera

332c‧‧‧ side camera

431‧‧‧Transport belt

611‧‧‧Loading surface

620‧‧‧ cylinder

621‧‧‧ piston rod

622‧‧‧Cylinder liner

631‧‧‧Motor

632‧‧‧Rolling screw

633‧‧‧Guide axis

711‧‧‧Support surface

712‧‧‧Conical surface

721‧‧‧Retained surface

811‧‧‧ holding member

812‧‧‧Remove mechanism/holding member moving mechanism

821‧‧‧Motor

822‧‧‧Rolling screw

823‧‧‧Guide axis

A1‧‧‧ arrow

A2‧‧‧ arrow

A3‧‧‧ arrow

A4‧‧‧ arrow

A5‧‧‧ arrow

H1‧‧‧ Height

H2‧‧‧ height

P‧‧‧ computer program

P1‧‧‧ moved into the starting position

P2‧‧‧1st inspection position

P3‧‧‧1st handover position

P4‧‧‧2nd handover position

P5‧‧‧2nd inspection position

P6‧‧‧3rd handover position

Q1‧‧‧ moving into the path

Q2‧‧‧Without path

Θ‧‧‧ angle

Fig. 1 is a view showing the entirety of an appearance inspection device.

Fig. 2 is an enlarged view of the first loading mechanism.

Fig. 3 is a plan view of the first holding mechanism.

Figure 4 is a front elevational view of the first retaining mechanism.

Fig. 5 is an enlarged view of the first carry-out mechanism.

Fig. 6 is a block diagram showing a configuration of a connection between a control unit and each unit in the visual inspection device.

Fig. 7 is a view conceptually showing a path for loading and unloading with respect to an inspection position.

Fig. 8 is a flow chart showing the flow of the holding operation of the inspection object.

Fig. 9 is a view conceptually showing a path of loading and unloading in a modified example.

Fig. 10 is a view conceptually showing a path of loading and unloading of a modified example.

Fig. 11 is a plan view showing a first holding mechanism of a modification.

Fig. 12 is a front elevational view showing a first holding mechanism of a modification.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

<1. Composition of visual inspection device>

Fig. 1 is a view showing the entire appearance inspection apparatus 1 according to an embodiment of the present invention. The visual inspection device 1 is a device that inspects an inspection object 9 having a three-dimensional shape from a plurality of directions, and inspects the appearance of the inspection object 9 based on the acquired plurality of images. The visual inspection device 1 inspects a metal member formed, for example, by forging or casting, as the inspection object 9. Further, in the visual inspection device 1, a plurality of inspection objects 9 are sequentially transported, and they are inspected. Therefore, in the visual inspection device 1 during the operation, a plurality of inspection objects 9 are simultaneously present, and each inspection object 9 is transported and inspected in parallel.

As shown in FIG. 1, the visual inspection device 1 of the present embodiment includes a first inspection unit 10, a posture changing mechanism 20, a second inspection unit 30, a sorting and discharging mechanism 40, and a control unit 50.

<1-1. About the first inspection unit>

The first inspection unit 10 is a processing unit for inspecting the first surface (for example, the surface) of the inspection object 9. As shown in FIG. 1 , the first inspection unit 10 includes a first loading mechanism 11 , a first holding mechanism 12 , a first inspection unit 13 , and a first unloading mechanism 14 .

The first loading mechanism 11 is a mechanism that carries the inspection target 9 toward the first inspection position P2. An input port 60 that can be opened and closed is provided in front of the visual inspection device 1. The user of the visual inspection device 1 can open the input port 60 and move the inspection object 9 toward the lower side of the input port 60. Enter the start position P1 setting. The first loading mechanism 11 transports the inspection target object 9 from the loading start position P1 to the first inspection position P2 inspected by the first inspection unit 13 . The carry-in start position P1 is disposed closer to the front surface side of the visual inspection device 1 than the first inspection position P2, and is lower than the first inspection position P2.

FIG. 2 is an enlarged view of the first loading mechanism 11. As shown in FIG. 2, the first loading mechanism 11 of the present embodiment includes a loading table 61, a loading table elevating mechanism 62, and a loading table moving mechanism 63. The loading table 61 has a mounting surface 611 on which the inspection object 9 is placed. The inspection object 9 to which the self-injection port 60 is placed is placed on the placement surface 611 in a state where both end portions (the end portions on the paper surface side and the rear side in FIG. 2) are exposed from the placement surface 611. The loading platform elevating mechanism 62 is a mechanism that changes the height of the loading table 61 by an air cylinder 620. The loading platform elevating mechanism 62 switches the relative height position with respect to the loading table 61 of the cylinder case 622 as in the arrow A1 in FIG. Specifically, the loading platform elevating mechanism 62 switches the height position of the loading table 61 between a rising state in which the piston rod 621 of the cylinder 620 is raised and a falling state in which the piston rod 621 of the cylinder 620 is lowered. Further, a power source other than the air cylinder 620 (for example, a stepping motor or the like) may be used at the loading platform elevating mechanism 62.

The moving table moving mechanism 63 is a mechanism that integrally moves the loading table 61 and the loading table lifting mechanism 62. As shown in FIG. 2, the transfer table moving mechanism 63 of this embodiment has a motor 631, a ball screw 632, and a guiding shaft 633. The ball screw 632 and the guide shaft 633 extend in parallel with the loading path of the inspection object 9. A nut of the ball screw 632 is fixed to the cylinder liner 622 of the cylinder 620. Further, the cylinder liner 622 is slidably coupled to the guide shaft 633.

As soon as the motor 631 is driven, the ball screw 632 is rotated about its axis. As described above, in the same manner as the arrow A2 in FIG. 2, the cylinder 620 and the loading table 61 supported by the cylinder 620 move linearly along the carrying path that extends obliquely with respect to the vertical direction. Thereby, the inspection object 9 placed on the loading table 61 can be moved obliquely upward from the loading start position P1. Go to the first inspection position P2. Further, the placement surface 611 of the loading table 61 is maintained in a horizontal posture even while moving.

The first holding mechanism 12 is a mechanism that holds the inspection target 9 at the first inspection position P2 during the inspection by the first inspection unit 13 . FIG. 3 is a plan view of the first holding mechanism 12. Fig. 4 is a front view of the first holding mechanism 12 (viewed in the direction of the hollow arrow in Fig. 3). As shown in FIG. 3 and FIG. 4, the first holding mechanism 12 of the present embodiment includes a pair of holding members 121 and a holding member moving mechanism 122 as a separating mechanism that closes and separates the pair of holding members 121 from each other.

The pair of holding members 121 stand by in a state of being more distant from each other before the inspection and after the inspection. When the first loading mechanism 11 is carried in, the inspection object 9 placed on the loading table 61 in the ascending state is conveyed to a position above the pair of holding members 121 by the pair of holding members 121. Thereafter, the loading table 61 is lowered by the loading table elevating mechanism 62, and the pair of holding members 121 are brought closer to each other by the holding member moving mechanism 122 as shown by an arrow A3 in Fig. 4 . Thereby, both end portions of the inspection object 9 exposed from the loading table 61 are placed on the upper surface of the pair of holding members 121. As a result, the inspection object 9 is delivered to the pair of holding members 121 from the loading table 61. Thereafter, the holding member moving mechanism 122 brings the pair of holding members 121 closer to each other as indicated by the arrow A3. Thereby, the inspection object 9 is sandwiched and held between the pair of holding members 121. As a result, the inspection object 9 is positioned and held at the first inspection position P2.

In this way, the first holding mechanism 12 holds the inspection object 9 that is conveyed obliquely upward by the first loading mechanism 11 and is held between the pair of holding members 121. Thereby, the inspection object 9 is delivered to the first holding mechanism 12 from the first loading mechanism 11 . Further, the detailed configuration of the first holding mechanism 12 will be described later.

After the inspection target object 9 is delivered to the first holding mechanism 12 from the loading table 61 of the first loading mechanism 11, the loading table moving mechanism 63 moves the loading table 61 again along the loading path toward the loading start position P1. In addition, the loading table 61 waits for the next inspection object 9 at the loading start position P1. Was put in. In this manner, the loading table moving mechanism 63 reciprocates the loading table 61 along the loading path in the same cycle as the conveying cycle of the inspection target 9.

As described above, in the present embodiment, the carry-in stage elevating mechanism 62 is provided in the first carry-in mechanism 11. Therefore, when the inspection object 9 is transferred from the first loading mechanism 11 to the first holding mechanism 12, the lifting and lowering operation of the inspection object 9 can be realized by the loading and unloading mechanism 62 on the first loading mechanism 11 side. In this way, it is not necessary to provide the elevating mechanism on the side of the first holding mechanism 12. In other words, the height position of one of the first holding mechanisms 12 to the holding member 121 can be fixed at a constant height position. Therefore, it is less likely to cause an error in the height position of the inspection object 9 held at the first inspection position P2.

Further, in the present embodiment, in addition to the loading table 61 of the first loading mechanism 11 and the loading table 81 of the first carrying mechanism 14 to be described later, a first holding for holding the inspection object 9 under inspection is additionally provided. Agency 12. Therefore, in the inspection of the inspection object 9 of the first inspection unit 13, the carry-in table 61 and the carry-out table 81 can be moved. Therefore, when the inspection object 9 is being carried out by the first unloading mechanism 14, the inspection of the object to be inspected 9 can be started, or when the inspection object 9 is being inspected by the first inspection unit 13, the subsequent inspection can be performed. The inspection object 9 is conveyed to the front of the first holding mechanism 12. Thereby, a plurality of inspection objects 9 can be conveyed at short time intervals.

In addition, since the first holding mechanism 12 is provided in addition to the first loading mechanism 11 and the first loading mechanism 14, the vibration of the first loading mechanism 11 and the first loading mechanism 14 does not easily affect the first holding mechanism 12. Therefore, in the inspection of the inspection object 9 by the first inspection unit 13, the positional deviation of the inspection object 9 held by the first holding mechanism 12 can be suppressed.

The first inspection unit 13 is a mechanism that inspects the first surface of the inspection object 9 held by the first holding mechanism 12 and placed at the first inspection position P2. As shown in FIG. 1, the first inspection unit 13 has a plurality of light irradiation units 131 and a plurality of cameras 132. The plurality of light irradiation units 131 and the plurality of cameras 132 surround the inspection object 9 in a dome shape (dome shape) in a space above the horizontal plane including the first inspection position P2. However, from the first inspection position P2 to each The distance between the light irradiation unit 131 and the distance from the first inspection position P2 to the respective cameras 132 are not necessarily the same.

The plurality of light irradiation units 131 include, for example, one upper light irradiation unit 131a disposed vertically above the first inspection position P2, and eight oblique light irradiation units 131b arranged at equal angular intervals on the first inspection. The obliquely upward position of the position P2 and the eight side light-irradiating portions 131c are arranged at equal angular intervals outside the substantially horizontal direction of the first inspection position P2. For example, an LED (light emitting diode) capable of switching between turning off and turning off the light in a short time is used in each of the light irradiation units 131.

The plurality of cameras 132 include, for example, one upper camera 132a disposed vertically above the first inspection position P2, and four oblique cameras 132b arranged at equal angular intervals above the first inspection position P2; The four side cameras 132c are arranged at equal angular intervals outside the substantially horizontal direction of the first inspection position P2. Each of the cameras 132 has a light receiving element such as a CCD or a CMOS, and a camera that can acquire a multi-tone digital image is used.

The first inspection unit 13 performs imaging by using a plurality of cameras 132 while changing the illumination pattern of the inspection target 9 by changing the combination of the light irradiation units 131 that are illuminated by the plurality of light irradiation units 131. Thereby, a plurality of photographic image groups having different illuminations and angles are acquired with respect to one inspection object 9. The acquired photographic image group is input to the control unit 50, which will be described later. The control unit 50 compares the photographic image groups of the plurality of inspection objects 9 to determine whether or not there is no defect such as damage on the first surface of each inspection object 9.

Further, the number and position of the light irradiation portion 131 and the camera 132 do not necessarily have to be as described above.

The first unloading mechanism 14 is a mechanism that carries out the inspection object 9 from the first inspection position P2. The first delivery position P3 where the inspection object 9 is delivered is disposed between the posture changing mechanism 20 to be described later, vertically below the first inspection position P2. The first unloading mechanism 14 transports the inspection object 9 vertically downward from the first inspection position P2 to the first intersection position which is lower than the first inspection position P2. Set P3.

FIG. 5 is an enlarged view of the first carry-out mechanism 14. As shown in FIG. 5, the first carry-out mechanism 14 of this embodiment has a carry-out stage 81 and a carry-out stage moving mechanism 82. The carry-out table 81 has a pair of holding members 811 that hold the inspection object 9 and a holding member moving mechanism 812 that closes and separates the holding members 811 from each other. The direction in which the first holding means 12 contacts the holding member 121 and the direction in which the one of the carrying-out table 81 is in contact with the holding member 811 is different from each other by 90 degrees in plan view. Further, the carry-out table 81 may be a person who mounts the inspection object 9 on a horizontal mounting surface. The carry-out moving mechanism 82 is a mechanism that moves the carry-out table 81 along the carry-out path that extends in the vertical direction. As shown in FIG. 5, the carry-out stage moving mechanism 82 has a motor 821, a ball screw 822, and a guide shaft 823. The ball screw 822 and the guide shaft 823 extend in parallel with the carrying-out path of the inspection object 9. Further, in the carry-out table 81, the nut of the ball screw 822 is fixed. Further, the carry-out table 81 is slidably coupled to the guide shaft 823.

As soon as the motor 821 is driven, the ball screw 822 is rotated about its axis. In this manner, as shown by an arrow A4 in FIG. 5, the carry-out table 81 moves linearly along the carry-out path extending in the vertical direction. Further, one of the carrying-out tables 81 maintains a posture in which the holding members 811 are horizontal to each other even while moving.

In the inspection of the inspection object 9 of the first inspection unit 13, the delivery table 81 is in close proximity to the lower surface of the pair of holding members 121 and stands by. Then, when the inspection is completed, the carry-out moving mechanism 82 raises the carry-out table 81, and the holding member moving mechanism 812 brings the pair of holding members 811 closer to each other. Further, the holding member moving mechanism 122 of the first holding mechanism 12 separates the pair of holding members 121 from each other. Thereby, the inspection object 9 is delivered from the pair of holding members 121 toward the carry-out table 81. The object to be inspected 9 is held by the pair of holding members 811 and held by the carrying-out table 81. Thereafter, the unloading stage moving mechanism 82 lowers the unloading stage 81 vertically downward. Thereby, the inspection object 9 is conveyed to the 1st delivery position P3.

In this manner, the unloading/moving mechanism 82 is in the same week as the transport cycle of the inspection object 9. In this case, the carry-out table 81 is reciprocated up and down along the carry-out path.

<1-2. About posture change mechanism>

The posture changing mechanism 20 is a mechanism that changes the posture of the inspection target 9 between the first inspection unit 10 and the second inspection unit 30. As shown in FIG. 1, the posture changing mechanism 20 includes an inversion arm 21 that holds the inspection object 9 and an arm drive mechanism 22 that operates the inversion arm 21. When the inspection object 9 is lowered to the first delivery position P3, the reverse arm 21 receives the inspection object 9 from the delivery table 81. Then, the arm drive mechanism 22 rotates the reverse arm 21 by 180° in the horizontal plane, and reverses the posture of the inspection object 9 by 180° with the axis of the reverse arm 21 as the center. Thereby, the inspection object 9 is placed at the second delivery position P4 with its second surface (for example, the back surface) facing upward. At this time, the loading platform of the second loading mechanism 31 stands by at the second delivery position P4. The inverting arm 21 mounts the inspection object 9 on the loading table of the second loading mechanism 31.

<1-3. About the second inspection unit>

The second inspection unit 30 is a processing unit for inspecting the second surface of the inspection object 9. As shown in FIG. 1 , the second inspection unit 30 includes a second loading mechanism 31 , a second holding mechanism 32 , a second inspection unit 33 , and a second unloading mechanism 34 .

The second loading mechanism 31 is a mechanism that conveys the inspection target 9 obliquely upward from the second delivery position P4 to the second inspection position P5 inspected by the second inspection unit 33. The second inspection position P5 is disposed closer to the back side of the visual inspection device 1 than the first inspection position P2. The second delivery position P4 is disposed closer to the front surface side of the visual inspection device 1 than the second inspection position P5 and lower than the second inspection position P5.

The structure of the second loading mechanism 31 is substantially the same as the structure of the first loading mechanism 11 shown in Fig. 2 . In other words, the second loading mechanism 31 has a loading table, a loading table lifting mechanism, and a loading table moving mechanism. The details of the loading table, the moving table lifting mechanism, and the moving table moving mechanism are the same as those of the loading table 61, the loading table lifting mechanism 62, and the loading table moving mechanism 63 of the first loading mechanism 11, and thus the overlapping is omitted. Description.

The second holding mechanism 32 is inspected by the second inspection unit 33, and the inspection pair is The mechanism in which the elephant 9 is held at the second inspection position P5. The second holding mechanism 32 has a pair of holding members 321 and a holding member moving mechanism 322 that close and separate the pair of holding members 321 from each other. The second holding mechanism 32 sandwiches and holds the inspection target 9 that is conveyed obliquely upward by the second loading mechanism 31 between the pair of holding members 321 . By this, the inspection object 9 conveyed obliquely upward by the second loading mechanism 31 is delivered to the second holding mechanism 32. Further, the second holding mechanism 32 has substantially the same structure as the above-described first holding mechanism 12. Therefore, for the details of the second holding mechanism 32, please refer to the description of the first holding mechanism 12 which will be described later.

The second inspection unit 33 is a mechanism for inspecting the second surface of the inspection object 9 held by the second holding mechanism 32 and disposed at the second inspection position P5. As shown in FIG. 1, the second inspection unit 33 has a plurality of light irradiation units 331 and a plurality of cameras 332. The plurality of light irradiation units 331 and the plurality of cameras 332 surround the inspection object 9 in a dome shape (dome shape) in a space above the horizontal plane including the second inspection position P5.

The second inspection unit 33 performs imaging by using a plurality of cameras 332 while changing the illumination pattern of the inspection target 9 by changing the combination of the light irradiation units 331 that are emitted by the plurality of light irradiation units 331. Thereby, a plurality of photographic image groups having different illuminations and angles are acquired with respect to one inspection object 9. The acquired photographic image group is input to the control unit 50, which will be described later. The control unit 50 compares the photographic image groups of the plurality of inspection objects 9 to determine whether or not there is no defect such as damage on the second surface of each inspection object 9.

Further, the number and position of the light irradiation unit 331 and the camera 332 may be the same as or different from the number and positions of the light irradiation unit 131 and the camera 132 of the first inspection unit 13.

The second unloading mechanism 34 is a mechanism that carries out the inspection target 9 from the second inspection position P5. The third delivery position P6 of the delivery inspection object 9 is disposed between the classification and discharge mechanism 40, which will be described later, below the second inspection position P5. The second unloading mechanism 34 conveys the inspection object 9 vertically downward from the second inspection position P5 to the third delivery position P6 which is lower than the second inspection position P5.

The structure of the second unloading mechanism 34 and the structure of the first unloading mechanism 14 shown in FIG. 5 are substantially the same. In other words, the second carry-out mechanism 34 has a carry-out stage and a carry-out stage moving mechanism. The details of each of the unloading stage and the moving-out stage moving mechanism are the same as those of the carry-out stage 81 and the carry-out stage moving mechanism 82 of the first carry-out mechanism 14, and thus the overlapping description will be omitted.

<1-4. About classification and discharge mechanism>

The sorting and discharge mechanism 40 is a mechanism that discharges the inspection object 9 after inspection into a good product and a non-conforming product. As shown in FIG. 1, the sorting and discharge mechanism 40 has a discharge arm 41, an arm drive mechanism 42 that operates the discharge arm 41, and a discharge conveyor 43. When the inspection object 9 is lowered to the third delivery position P6, the discharge arm 41 receives the inspection object 9 from the unloading station of the second carry-out mechanism 34. Then, the arm drive mechanism 42 moves the discharge arm 41 above the discharge conveyor 43. Then, the holding of the inspection object 9 by the discharge arm 41 is released. Thereby, the inspection object 9 is delivered from the discharge arm 41 to the discharge conveyor 43.

The discharge conveyor 43 has an endless conveyance belt 431 on which the inspection object 9 is placed and conveyed. The discharge conveyor 43 can switch the rotation direction of the conveyance belt 431 in accordance with an instruction from the control unit 50. When the inspection object 9 in which the defect is not detected in the first inspection unit 10 and the second inspection unit 30 is placed on the conveyance belt 431, the control unit 50 rotates the conveyance belt 431 in one direction. Thereby, the inspection object 9 is discharged as a good product to the left and right sides of the visual inspection device 1 (for example, the rear side of FIG. 1). On the other hand, when the inspection object 9 in which the defect is detected in the first inspection unit 10 or the second inspection unit 30 is placed on the conveyance belt 431, the control unit 50 rotates the conveyance belt 431 in the other direction. As a result, the inspection object 9 is discharged as a defective product to the other side of the left and right of the visual inspection device 1 (for example, on the paper side of FIG. 1).

<1-5. About Control Department>

The control unit 50 is a mechanism for controlling the operation of each unit of the visual inspection device 1. As shown in FIG. 1, the control unit 50 is constituted by a computer having a calculation processing unit 51 such as a CPU, a memory 52 such as a RAM, and a storage unit 53 such as a hard disk drive. A computer for carrying out the inspection and inspection of the inspection object 9 is mounted in the memory unit 53. Program P.

FIG. 6 is a block diagram showing a configuration in which the control unit 50 and each unit in the visual inspection device 1 are connected. As shown in FIG. 6, the control unit 50 is the first loading mechanism 11, the first holding mechanism 12, the first inspection unit 13, the first loading mechanism 14, the posture changing mechanism 20, the second loading mechanism 31, and the second The holding mechanism 32, the second inspection unit 33, the second unloading mechanism 34, and the sorting and discharging mechanism 40 are electrically connected to each other. The control unit 50 temporarily reads the computer program P stored in the storage unit 53 to the memory 52, and based on the computer program P, performs calculation processing by the arithmetic processing unit 51 to control the operation of each of the above-described units. Thereby, the transportation and inspection of the plurality of inspection objects 9 are sequentially performed.

<2. Features on the conveyance of the visual inspection device>

As described above, in the visual inspection device 1, after the first inspection unit 10 has inspected the first surface (for example, the surface) of the inspection object 9, the posture of the inspection object 9 carried out from the first inspection unit 10 is performed. In the reverse direction, the second surface (for example, the back surface) of the inspection object 9 is inspected by the second inspection unit 30. Thereby, the wide surface (for example, the entire surface and the back surface) of the inspection object 9 can be inspected. Further, in the visual inspection device 1, the inspection of the first surface, the change of the posture, and the inspection of the second surface can be simultaneously performed at different positions. Thereby, the transport interval of the plurality of inspection objects 9 can be shortened.

FIG. 7 is a view conceptually showing a path in which the inspection object 9 of the first inspection unit 10 is carried in and out. As shown in Fig. 7, in the first inspection unit 10 of the present embodiment, the inspection object 9 is conveyed obliquely upward from the loading position P1 to the loading position Q1 of the first inspection position P2. In the carry-out path Q2 from the inspection position P2 to the first transfer position P3, the inspection object 9 is conveyed vertically downward. Therefore, the inspection object 9 can be carried in and out with respect to the first inspection position P2 without interfering with the plurality of light irradiation units 131 and the plurality of cameras 132.

In addition, since the loading path Q1 of the inspection target object 9 of the first loading mechanism 11 and the loading path Q2 of the inspection object 9 of the first loading mechanism 14 are different from each other, the first The loading mechanism 11 and the first loading mechanism 14 operate simultaneously. Therefore, a plurality of inspection objects 9 can be carried in and out at a short time interval with respect to the first inspection position P2.

Similarly, in the second inspection unit 30, the inspection object 9 is conveyed obliquely upward from the second inspection position P5 to the second inspection position P5, from the second inspection position P5 to the first In the carry-out path of the delivery position P6, the inspection object 9 is conveyed vertically downward. Therefore, in the second inspection unit 30, the inspection object 9 can be carried in and out with respect to the second inspection position P5 without interfering with the plurality of light irradiation units 331 and the plurality of cameras 332. Further, the second loading mechanism 31 and the second loading mechanism 34 can be simultaneously operated. Therefore, a plurality of inspection objects 9 can be carried in and out at a short time interval with respect to the second inspection position P5.

In addition, when the conveyance angle (angle θ1 in FIG. 7) of the inspection object 9 of the first loading mechanism 11 is close to 0°, the inspection object 9 during conveyance easily interferes with the light irradiation unit 131 and the camera 132. On the other hand, when the conveyance angle is close to 90°, the first carry-in mechanism 11 and the first carry-out mechanism 14 easily interfere with each other. In order to avoid contact with both the first inspection unit 13 and the first unloading mechanism 14, the conveyance angle of the inspection object 9 of the first loading mechanism 11 is preferably set to, for example, 15° or more and 45° with respect to the horizontal plane. the following. More preferably, the transport angle is set to be about 20°.

In addition, for the same reason, the conveyance angle of the inspection object 9 of the second loading mechanism 31 is preferably set to, for example, 15° or more and 45° or less with respect to the horizontal plane. More preferably, the transport angle is set to be about 20°.

In addition, when the structure of the present embodiment is used, the inspection object 9 is carried in or carried out with respect to the first inspection position P2, so that it is not necessary to change the position of the light irradiation unit 131 and the camera 132. Similarly, since the inspection object 9 is carried in or carried out with respect to the second inspection position P5, it is not necessary to change the position of the light irradiation unit 331 and the camera 332. Among the plurality of light irradiation units 131 of the first inspection unit 13 , the plurality of cameras 132 of the first inspection unit 13 , the plurality of light irradiation units 331 of the second inspection unit 33 , and the plurality of cameras 332 of the second inspection unit 33 One They can all be fixed in a certain position. In this way, the positional deviation of each of the light irradiation units 131 and 331 or each of the cameras 132 and 332 can be suppressed. As a result, the inspection object 9 can be imaged more accurately, and the accuracy of the appearance inspection can be improved.

Further, in the present embodiment, the loading start position P1 is disposed obliquely below the first inspection position P2. Therefore, the input port 60 to which the inspection target object 9 is placed can be disposed at a position deviated from the position vertically below the first inspection position P2. Therefore, the user of the visual inspection device 1 can easily set the inspection object 9 from the insertion port 60 to the loading start position P1 without having to avoid the first holding mechanism 12 and the first inspection unit 13.

Further, in the present embodiment, the first delivery position P3 is disposed vertically below the first inspection position P2. Therefore, the first unloading mechanism 14 transports the inspection object 9 vertically downward. In this manner, when the inspection object 9 is carried out obliquely downward, the floor space of the first unloading mechanism 14 can be reduced. Similarly, in the present embodiment, the third delivery position P6 is disposed vertically below the second inspection position P5. Therefore, the second carry-out mechanism 34 transports the inspection object 9 vertically downward. In this manner, the area of the second unloading mechanism 34 can be reduced as compared with the case where the inspection object 9 is carried out obliquely downward. As a result of these configurations, the coverage area (footprint) of the visual inspection device 1 can be reduced.

Further, in the first embodiment, in the first inspection unit 10, the first loading mechanism 11 and the first loading mechanism 14 are differently controllable. Therefore, the operation of each of the first loading mechanism 11 and the first loading mechanism 14 is optimized, and the conveying interval of the inspection target 9 can be further shortened. Similarly, in the second inspection unit 30, the second loading mechanism 31 and the second loading mechanism 34 are different mechanisms that can be individually controlled. Therefore, the operation of each of the second loading mechanism 31 and the second loading mechanism 34 is optimized, and the conveying interval of the inspection target 9 can be further shortened.

Preferably, the control unit 50 simultaneously operates the first loading mechanism 11 and the first loading mechanism 14 at least for a part of the time. For example, when the first loading mechanism 14 is transporting the inspection target object 9 from the first inspection position P2 to the first delivery position P3, the first loading mechanism 11 can be set. The object to be inspected 9 is transported to the first inspection position P2 from the loading start position P1. When the first loading mechanism 11 and the first loading mechanism 14 are simultaneously operated, the first inspection unit 10 can transport a plurality of inspection objects 9 at shorter time intervals.

Similarly, the preferred control unit 50 simultaneously operates the second loading mechanism 31 and the second loading mechanism 34 at least for a part of the time. For example, when the second loading mechanism 34 is transporting the inspection target object 9 from the second inspection position P5 to the third delivery position P6, the second loading mechanism 31 sets the subsequent inspection target object 9 from the second delivery position P4. It is conveyed to the second inspection position P5. When the second loading mechanism 31 and the second loading mechanism 34 are simultaneously operated, the second inspection unit 30 can transport a plurality of inspection objects 9 at shorter time intervals.

Further, in the first embodiment, in the first loading mechanism 11, the loading table moving mechanism 63 moves the loading table 61 linearly. Further, in the first carry-out mechanism 14, the carry-out stage moving mechanism 82 moves the carry-out table 81 linearly. Further, in the second loading mechanism 31, the loading table moving mechanism moves the loading table linearly. Moreover, in the second carry-out mechanism 34, the carry-out stage moving mechanism moves the carry-out stage linearly. In this way, in each of the loading mechanism and each of the loading and unloading mechanisms, the inspection object 9 can be conveyed at substantially the shortest distance. Therefore, the inspection object 9 can be conveyed more quickly.

Further, in the first embodiment, in the first loading mechanism 11, the loading table moving mechanism 63 reciprocates the loading table 61 along the loading path Q1. Further, in the second loading mechanism 31, the loading table moving mechanism reciprocates the loading table along the loading path. As described above, in each of the loading mechanisms, the moving range of the loading table can be reduced as compared with the case where the forward path and the backward path of the loading table are set to different paths. Therefore, it is possible to reduce the footprint of each loading mechanism.

Further, in the first embodiment, in the first carry-out mechanism 14, the carry-out stage moving mechanism 82 reciprocates the carry-out table 81 along the carry-out path Q2. Further, in the second carry-out mechanism 34, the carry-out stage moving mechanism reciprocates the carry-out stage along the carry-out path. As described above, in each of the carry-out mechanisms, the moving range of the carry-out table can be reduced as compared with the case where the forward path and the backward path of the carry-out station are set to different paths. Therefore, the floor space of each carry-out mechanism can be reduced.

<3. Details about the first holding mechanism>

Next, the above-described first holding mechanism 12 will be described in more detail.

FIG. 3 is a plan view of the first holding mechanism 12. Fig. 4 is a front view of the first holding mechanism 12 (viewed in the direction of the hollow arrow in Fig. 3). As described above, the first holding mechanism 12 of the present embodiment includes a pair of holding members 121 and a holding member moving mechanism 122 that close and separate the pair of holding members 121 from each other. The pair of holding members 121 are disposed to face each other in a horizontal direction orthogonal to a plane including both the loading path of the first loading mechanism 11 and the carrying-out path of the first loading mechanism 14 . The holding member moving mechanism 122 is realized by a power transmission mechanism that transmits a power source such as a stepping motor and the power obtained from the power source to the holding member 121. When the holding member moving mechanism 122 is operated, the pair of holding members 121 move in the direction of approaching and separating from each other as shown by an arrow A3 in FIGS. 3 and 4 . Thereby, the interval between the pair of holding members 121 changes.

The pair of holding members 121 have a support portion 71 and a holding portion 72, respectively. The support portion 71 is a substantially quadrangular columnar portion that is orthogonal to the moving direction of the holding member 121 and extends in the horizontal direction. The upper surface of the support portion 71 serves as a support surface 711 at a level in contact with the lower surface of the inspection object 9. When the inspection object 9 is held, the support surface 711 supports the inspection object 9 from below. Further, the support portion 71 has a tapered surface 712 that extends obliquely downward from the inner end portion of the support surface 711 (the end portion closest to the other holding member 121).

The holding portion 72 is a plate-shaped portion of the inspection object 9 interposed therebetween. The holding portion 72 is substantially horizontally expanded from the inner surface of the support portion 71 (the surface facing the other holding member 121) toward the other holding member 121 side. A pair of holding faces 721 are provided at the front end of the holding portion 72. The pair of holding surfaces 721 form a substantially V-shaped notch that is opened toward the other holding portion 72 side. That is, the pair of holding surfaces 721 are inclined surfaces that gradually move away from each other toward the front end side of the holding portion 72. However, the shape of the notch formed by the pair of holding surfaces 721 may be other shapes such as an arc shape or a trapezoidal shape.

Further, the first holding mechanism 12 further has a rotation preventing member 123 that prevents inspection The rotation of the object 9 around the vertical axis. In the example of FIG. 3, the rotation preventing member 123 is disposed on the upper surface of one of the support portions 71. However, the rotation preventing member 123 may be disposed at another position in the first holding mechanism 12. The rotation preventing member 123 is connected to a drive mechanism (not shown). When the drive mechanism is actuated, the rotation preventing member 123 protrudes toward the inspection object 9 side as in the case of the arrow A5 in FIGS. 3 and 4 .

FIG. 8 is a flowchart showing the flow of the holding operation of the inspection object 9 by the first holding mechanism 12. The pair of holding members 121 stand by in a state of being more distant from each other before the inspection and after the inspection (step S1). When the first loading mechanism 11 is carried in, the inspection object 9 placed on the loading table 61 in the raised state passes between the pair of holding members 121 and is conveyed to a position above the pair of holding members 121 (step S2). . Thereafter, the loading platform elevating mechanism 62 lowers the loading table 61, and the holding member moving mechanism 122 brings the pair of holding members 121 closer to each other. Thereby, both end portions of the inspection object 9 exposed from the loading table 61 are respectively placed on the support surface 711 which is the upper surface of the support portion 71 (step S3). As a result, the inspection object 9 is delivered to the pair of holding members 121 from the loading table 61.

In the example of FIGS. 3 and 4, the hub of the automobile component is used as the inspection object 9. The hub has a disc portion 91 that is disposed coaxially with each other, a front side cylindrical portion 92, and a back side cylindrical portion 93. The front side cylindrical portion 92 protrudes in a column shape from the center of the front side of the disc portion 91. The back side cylindrical portion 93 protrudes in a column shape from the center of the back side of the disc portion 91. The diameter of the front side cylindrical portion 92 and the diameter of the back side cylindrical portion 93 are smaller than the diameter of the circular plate portion 91. Further, a plurality of concave portions 94 are provided on the back surface of the disc portion 91. Each of the recesses 94 has a shape that is substantially V-shaped outward in the radial direction.

In step S3, when the pair of holding members 121 start to approach each other, first, the tapered surface 712 of each of the support portions 71 comes into contact with the outer peripheral edge of the lower surface of the disc portion 91. The disc portion 91 is smoothly slid onto the support portion 71 by being guided by the tapered surface 712. As a result, the lower surface of the disc portion 91 is in contact with the respective support faces 711 of the pair of support portions 71. Thereby, the disk portion 91 is supported from the lower side, and the height position of the inspection object 9 is determined. In the following In the steps S4 to S5, the support unit 71 continues to support the circular plate portion 91.

Next, the holding member moving mechanism 122 moves the pair of holding members 121 further in the approaching direction. Further, the rotation preventing member 123 is protruded immediately before the pair of holding portions 72 are in contact with the back side cylindrical portion 93. In this manner, the rotation preventing member 123 is inserted into the concave portion 94 on the lower surface of the disc portion 91 (step S4). Thereby, the rotational position of the inspection object 9 around the central axis is determined. In other words, the positional deviation of the inspection object 9 in the rotation direction can be prevented by the concave portion 94 of the inspection object 9.

When the rotational position of the inspection object 9 is determined, the rotation preventing member 123 is retracted outward from the concave portion 94. Further, the holding member moving mechanism 122 moves the pair of holding members 121 further in the approaching direction. Thereby, the back side cylindrical portion 93 is sandwiched between the pair of holding portions 72 (step S5). In step S5, a pair of holding surfaces 721 of the pair of holding portions 72 (that is, a total of four holding surfaces 721) are in contact with the outer side surfaces of the back side cylindrical portion 93. Thereby, the position determination in the horizontal plane of the inspection object 9 is determined. As a result, the inspection object 9 can be positioned with high precision and held at a constant position.

In particular, in the present embodiment, the support portion 71 that supports the inspection object 9 from the lower side and the holding portion 72 that is in contact with the side surface of the inspection object 9 are formed as one of the respective holding members 121. Thus, there is no possibility that the positional relationship between the support portion 71 and the holding portion 72 is deviated. Therefore, the inspection object 9 can be positioned with higher precision. Further, the support portion 71 and the holding portion 72 can be integrally moved by the single holding member moving mechanism 122.

Further, in the holding member 121 of the present embodiment, the holding portion 72 is provided on the lower side of the upper surface of the support portion 71. In the inspection object 9, the portion located further above the upper surface of the support portion 71 (in the examples of FIGS. 3 to 4, the bobbin portion 91 and the front side cylindrical portion 92) is not held by the holding portion 72. Occlusion. Therefore, it is possible to check the wider range of the inspection object 9.

In particular, the visual inspection device 1 of the present embodiment compares the number of captured images of the plurality of inspection objects 9 to determine the presence or absence of a defect of each inspection object 9. In In the comparison inspection method, if the position of the inspection object 9 in the captured image is slightly deviated between the plurality of photographic images, the accuracy of the defect detection is lowered. However, according to the structure of the first holding mechanism 12 of the present embodiment, a plurality of inspection objects 9 can be held at a constant position with high precision. Therefore, the accuracy of the defect detection by the visual inspection device 1 can be improved.

Further, in the visual inspection device 1 of the present embodiment, the first holding mechanism 12 is provided in addition to the first loading mechanism 11 and the first unloading mechanism 14. Therefore, the vibration of the first loading mechanism 11 and the first unloading mechanism 14 does not easily affect the first holding mechanism 12. Therefore, in the inspection of the inspection object 9 by the first inspection unit 13, the positional deviation of the inspection object 9 held by the first holding mechanism 12 can be suppressed. Thereby, the accuracy of the defect detection by the visual inspection device 1 can be further improved.

Since the structure of the second holding mechanism 32 is substantially the same as the structure of the first holding mechanism 12, the overlapping description will be omitted. However, the second holding mechanism 32 holds the inspection object 9 in a posture in which the inspection object 9 is vertically inverted. Therefore, one of the second holding mechanisms 32 sandwiches and holds the front side cylindrical portion 92 of the inspection object 9 with respect to the holding portion. Moreover, the rotation preventing member of the second holding mechanism 32 is provided at a height position which can be inserted into the concave portion 94 of the disc portion 91 which is vertically inverted.

<4. Change example>

Although the main embodiments of the present invention have been described above, the present invention is not limited to the above embodiments.

FIG. 9 is a view showing a variation example of the path of loading and unloading with respect to the first inspection position P2. In the example of FIG. 9, the carry-in starting position P1 is disposed vertically below the first inspection position P2. Therefore, in the loading path Q1 from the loading start position P1 to the first inspection position P2, the first loading mechanism 11 conveys the inspection object 9 vertically. Further, in the example of FIG. 9, the first delivery position P3 is disposed at a position lower than the rear side of the visual inspection device 1 from the first inspection position P2. Therefore, the first unloading mechanism 14 conveys the inspection object 9 obliquely downward from the first inspection position P2 to the delivery path Q2 of the first delivery position P3.

FIG. 10 is a view showing another modification of the path of loading and unloading with respect to the first inspection position P2. In the example of FIG. 10, the loading start position P1 is disposed at a position lower than the paper surface side of the visual inspection device 1 from the first inspection position P2. Therefore, the first loading mechanism 11 conveys the inspection object 9 obliquely upward in the loading path Q1 from the loading start position P1 to the first inspection position P2. Further, in the example of FIG. 10, the first delivery position P3 is disposed at a position lower than the rear side of the visual inspection device 1 from the first inspection position P2. Therefore, the first unloading mechanism 14 conveys the inspection object 9 obliquely downward from the first inspection position P2 to the delivery path Q2 of the first delivery position P3.

In the transport mode of FIG. 9 and FIG. 10, the inspection object 9 can be carried in and out with respect to the first inspection position P2 without changing the position of the light irradiation unit 131 and the camera 132. In addition, since the inspection object 9 is carried in and out by a different route, a plurality of inspection objects 9 can be conveyed at short time intervals.

Further, in the example of FIG. 10, the carry-in path Q1 and the carry-out path Q2 are arranged in a line in a plan view. However, in the case where the transport path Q1 and the carry-out path Q2 are both inclined, the carry-in path Q1 and the carry-out path Q2 do not necessarily have to be arranged in a straight line in plan view. Further, the inclination angle of the loading path Q1 with respect to the horizontal plane and the inclination angle of the carrying-out path Q2 with respect to the horizontal plane may be different angles from each other.

Fig. 11 is a plan view showing the first holding mechanism 12 of a modification. Fig. 12 is a front view of the first holding mechanism 12 (viewed in the direction of the hollow arrow of Fig. 11). In the example of FIGS. 11 and 12, the connecting rod of the automobile component is used as the inspection object 9. The connecting rod has a first annular portion 95, a second annular portion 96, and a stem portion 97 that connects the two annular portions 95, 96.

In the example of FIGS. 11 and 12, the first holding mechanism 12 has a pair of holding members 121, and a holding member moving mechanism 122 that closes and separates the pair of holding members 121 from each other. Further, each of the holding members 121 has a support portion 71 and a holding portion 72. However, in the above-described embodiment, the holding portion 72 is provided on the lower side of the upper surface of the support portion 71. In the example of FIGS. 11 and 12, the holding portion 72 is provided on the upper surface of the support portion 71. Each holding portion 72 There is a pair of holding faces 721. The pair of holding faces 721 form a substantially trapezoidal notch that opens toward the other holding portion 72 side.

When the object to be inspected 9 is held by the first holding mechanism 12 of Figs. 11 and 12, first, the same operations as steps S1 to S3 of the above-described embodiment are performed. Thereby, one of the first annular portion 95 and one of the second annular portions 96 are supported by the upper surface of the support portion 71, and the height position of the inspection object 9 is determined. Thereafter, as in step S5 of the above-described embodiment, the holding member moving mechanism 122 moves the pair of holding members 121 further in the approaching direction. Thereby, the inspection object 9 is sandwiched between the pair of holding portions 72. At this time, the pair of holding surfaces 721 of one holding portion 72 are in contact with the outer surface of the first annular portion 95. Further, one of the other holding portions 72 is in contact with the outer surface of the second annular portion 96 with respect to the holding surface 721. Thereby, the position determination in the horizontal plane of the inspection object 9 is determined. As a result, the inspection object 9 can be positioned with high precision and held at a constant position.

Further, in the case where the connecting rod is used, it is held by only the pair of holding portions 72, and the rotational position around the vertical axis can be determined. Therefore, the rotation preventing member is not provided in the first holding mechanism 12, and the step S4 of the above embodiment is omitted.

Further, in the first holding mechanism 12, as shown in Fig. 12, the height h1 from the upper surface of the support portion 71 to the upper end of the holding portion 72 is smaller than 1/2 times the height h2 of the side surface of the inspection object 9. The inspection object 9 is located above the support portion 71. Therefore, in the side surface of the inspection object 9, the portion which is blocked by the holding portion 72 and which cannot be inspected is half or less. Therefore, when the first holding mechanism 12 and the second holding mechanism 32 have the same structure, the entire inspection object 9 can be inspected, that is, the entire side surface of the inspection object 9 can be inspected. In other words, any part of the side surface of the inspection object 9 can be inspected in at least one of the first inspection unit 13 and the second inspection unit 33.

Further, in the above embodiment, both of the two holding portions 72 have a pair of holding surfaces 721. However, it is possible to provide a pair of holding faces 721 only at one holding portion 72, and the other holding portion 72 is in contact with the side of the inspection object 9 in a single plane. Even if it is In the configuration, the position in the horizontal plane of the inspection object 9 can be determined by one of the holding portions 72 facing the single plane of the holding surface 721 and the other holding portion 72 (that is, a total of three surfaces). However, in the case where the pair of holding surfaces 721 are provided in both of the two holding portions 72, the position in the horizontal plane of the inspection object 9 can be determined with higher precision than in the above-described embodiment.

Further, in the above-described embodiment, the holding member moving mechanism 122 moves both of the pair of holding members 121 in the upward direction. However, the holding member moving mechanism 122 may move only one of the pair of holding members 121 in such a manner as to approach and separate from the other holding member 121.

Further, in the above-described embodiment, the metal object formed by forging or casting is exemplified as the object to be inspected 9. However, the object to be inspected of the present invention may be made of a material other than metal (for example, a resin). By.

Further, the shape of the inspection object, the shape of the detail portion of the holding mechanism, and the shape of the detail portion of the visual inspection device may be different from the respective drawings of the present application. Further, the respective elements appearing in the above-described embodiments and modifications can be combined as appropriate within a range in which no contradiction occurs.

13‧‧‧1st Inspection Department

131a‧‧‧Upper light irradiation department

131b‧‧‧ oblique light irradiation

131c‧‧‧Side side light irradiation department

132a‧‧‧Upper camera

132b‧‧‧ oblique camera

132c‧‧‧ side camera

P1‧‧‧ moved into the starting position

P2‧‧‧1st inspection position

P3‧‧‧1st handover position

Q1‧‧‧ moving into the path

Q2‧‧‧Without path

Θ‧‧‧ angle

Claims (22)

An appearance inspection device for inspecting an appearance of an object, comprising: a plurality of light irradiation portions and a plurality of cameras surrounding the object at a space higher than an upper surface including the inspection position; and a loading mechanism The object is carried in to the inspection position; and the unloading mechanism carries out the object from the inspection position on a route different from the loading mechanism; and the loading mechanism and the unloading mechanism are differently controllable separately; the loading mechanism and the loading mechanism The carry-out mechanism transports the object between the position lower than the inspection position and the inspection position, and at least one of the carry-in mechanism and the carry-out mechanism conveys the object obliquely with respect to the vertical direction. The visual inspection device according to claim 1, wherein the loading mechanism transports the object obliquely upward from the position lower than the inspection position toward the inspection position. The visual inspection device according to claim 2, wherein the unloading mechanism transports the object vertically downward from the inspection position to a position lower than the inspection position. The visual inspection device according to claim 1, further comprising a control unit that controls an operation of the loading mechanism and the unloading mechanism, and the control unit simultaneously operates the loading mechanism and the unloading mechanism at least for a part of time. An appearance inspection device for inspecting an appearance of an object, and having: a plurality of light irradiation portions and a plurality of cameras, etc., which are more inspected The object in the upper side of the horizontal plane surrounds the object; the loading mechanism carries the object toward the inspection position; and the unloading mechanism moves the object from the inspection position on a different path from the loading mechanism; and the loading mechanism a loading station that mounts an object; and a moving table moving mechanism that moves the loading table along a loading path; and the carrying-out mechanism includes: a loading station that mounts an object; and a moving table moving mechanism that causes The loading and unloading table moves along the unloading path; and the loading mechanism and the loading and unloading mechanism both transport the object between the position lower than the inspection position and the inspection position; and at least one of the loading mechanism and the unloading mechanism is vertical The object is conveyed obliquely in the direction. The visual inspection device according to claim 5, wherein the transfer table moving mechanism moves the transfer table linearly, and the carry-out moving mechanism moves the transfer table linearly. The visual inspection device according to claim 5, wherein the transfer table moving mechanism reciprocates the transfer table along the carry-in path, and the carry-out moving mechanism reciprocates the carry-out table along the carry-out path. The visual inspection device according to claim 5, wherein the loading mechanism further includes: a lifting mechanism that changes a height of the loading platform; and the loading table moving mechanism integrates the loading platform and the lifting mechanism mobile. The visual inspection device according to claim 5, further comprising a holding mechanism that holds the object under inspection in the inspection position, in addition to the loading station and the loading and unloading station. The visual inspection device according to claim 9, wherein the holding mechanism includes a support portion that supports the object from the lower side, a pair of holding portions that are in contact with the side surface of the object and sandwiches the object, and a moving mechanism. The interval between the pair of holding portions is changed; and at least one of the holding portions has a pair of holding surfaces that are opened toward the other holding portion side. The visual inspection device of claim 10, wherein each of the pair of holding portions has the pair of holding surfaces. The visual inspection device according to claim 10, wherein the holding mechanism has: a pair of holding members; and the pair of holding members respectively include the support portion and the holding portion; and the moving mechanism makes one or both of the pair of holding members Move. The visual inspection device of claim 12, wherein the support portion has a horizontal support surface that contacts a lower surface of the object, and a tapered surface that extends obliquely downward from an inner side of the support surface. The visual inspection device of claim 10, wherein the holding portion is located above the support portion; the height from the upper surface of the support portion to the upper end of the holding portion is 1/2 times the height of the side surface Small, wherein the side is located at the aforementioned support portion of the object More on the upper side. The visual inspection device according to claim 10, wherein the holding portion is located at a lower side than the upper surface of the support portion. The visual inspection device according to claim 10, wherein the holding mechanism further includes: a rotation preventing member that prevents rotation of the object about the vertical axis. The visual inspection device according to claim 16, wherein the rotation preventing member is inserted into a concave portion of the object. The visual inspection device according to any one of claims 10 to 17, wherein the presence or absence of a defect of the object is determined by comparing the photographic images of the plurality of objects. An appearance inspection device for inspecting an appearance of an object, comprising: a plurality of light irradiation portions and a plurality of cameras surrounding the object at a space higher than an upper surface including the inspection position; and a loading mechanism The object is carried in the inspection position; and the unloading mechanism carries the object from the inspection position on a different path from the loading mechanism; and the loading mechanism and the loading mechanism are both lower than the inspection position and the inspection The object to be transported is transported between the positions, and at least one of the carry-in mechanism and the carry-out mechanism transports the object at an angle of 15° or more and 45° or less with respect to the horizontal plane. An appearance inspection device for inspecting an appearance of an object, comprising: a plurality of light irradiation portions and a plurality of cameras surrounding the object at a space higher than an upper surface including the inspection position; and a loading mechanism The object is carried in to the inspection position; and the unloading mechanism applies the object from the route different from the loading mechanism The first inspection unit includes a first surface of the inspection object, the second inspection unit includes a second surface of the inspection object, and the posture changing mechanism is configured by the first inspection unit and the second inspection unit. Between the first inspection unit and the second inspection unit, each of the first inspection unit and the second inspection unit includes the plurality of light irradiation units, the plurality of cameras, the loading mechanism, and the unloading mechanism; the loading mechanism and the loading and unloading The mechanism transports the object between the position lower than the inspection position and the inspection position, and at least one of the carry-in mechanism and the carry-out mechanism conveys the object obliquely with respect to the vertical direction. An appearance inspection method for inspecting an appearance of an object; the method comprising: a) a step of moving an object toward an inspection position; b) using a space surrounding the object at a space higher than a horizontal plane including the inspection position a plurality of light irradiation units and a plurality of cameras arranged to inspect an object disposed at the inspection position; and c) moving the object from the inspection position in a path different from the step a) And in the step a) and the step c), the loading and unloading of the object can be individually controlled; in the step a) and the step c), both the position lower than the inspection position and the inspection are performed. In at least one of the above steps a) and c), the object is conveyed obliquely with respect to the vertical direction. A visual inspection method for inspecting an appearance of an object; the method comprising: a) a step of moving the object toward the inspection position; b) using a plurality of light irradiation portions and a plurality of cameras arranged to surround the object at a space higher than the horizontal surface including the inspection position a step of inspecting an object disposed at the inspection position; and c) a step of moving the object from the inspection position in a path different from the step a); and in the step a) and the step c) The object is transported between the position lower than the inspection position and the inspection position; and in at least one of the step a) and the step c), the object is conveyed obliquely with respect to the vertical direction; and the step a) includes : a-1) a step of supporting the object from the lower side; and a-2) continuing the support of the object from the lower side while holding the pair of holding portions in contact with the side of the object a step of the object; and at least one of the holding portions has a pair of holding surfaces that are opened toward the other holding portion side; in the step a-2), the pair of holding surfaces are brought into contact with the side of the object